Profile Velocity Mode - Delta ASDA-A3 Series User Manual

CANopen Mode

12.3.4 Profile Velocity Mode

In PV (Profile Velocity) mode, the controller specifies the speed command and acceleration /
12 deceleration conditions, and the motion command generator of the servo drive plans the motion
path according to these conditions.
Target velocity (60FFh)
Max. profile velocity
(607Fh)
Profile acceleration (6083h)
Profile deceleration (6084h)
Quick stop deceleration
(6085h)
Max. acceleration (60C5h)
Max. deceleration (60C6h)
Torque actual value (6077h)
Velocity window (606Dh)
Velocity window time (606Eh)
Statusword Bit10
Target reached (6041h)
Velocity actual value (606Ch)
Position actual value (6064h)
Operation steps:
1. Set OD 6060h to 03h to set the mode as the speed control mode.
2. Set OD 6083h for the acceleration time slope.
3. Set OD 6084h for the deceleration time slope.
4. Set the target speed (OD 60FFh) to 0. In speed mode, the servo motor starts operating
once it is switched to servo on (step 5). Therefore, setting the target speed (OD 60FFh)
to 0 is to ensure that the motor maintains at 0 rpm at the time of servo on.
5. Set OD 6040h for the control command. Follow the steps below. Steps 6.1 and 6.2 are to
bring the servo drive's state machine into the ready state. For more details of the state
machine, refer to Section 12.2.2.6.
6. Set OD 60FFh for the target speed.
12-26
Speed
[RPM]
command
and limit
function
Trajectory
generator
[ms] 2
Acceleration
limit function
Position
Speed
window
comparator
comparator
Step Bit 4 Bit 3 Bit 2
6.1 0 0 1
6.2 0 0 1
6.3 0 1 1
Positive
torque limit
(60E0h)
Negative
torque limit
(60E1h)
Velocity demand value
Filter
(606Bh)
P1.006
P1.036
+
-
E-Gear ratio
6093h sub2
6093h sub1
Bit 1 Bit 0
1 0 Shutdown
1 1 Switch on (ready for servo on).
1 1 Enable operation (servo on).
Max. torque
(6072h)
Torque
Speed
control
control
loop
loop
Description
ASDA-A3
Servo
motor
M
Encoder